#ifndef __PATH_SMOOTH_H__
#define __PATH_SMOOTH_H__


// 局部路径规划专栏之3.5：优化理论实现路径平滑（附C++代码）
// https://blog.csdn.net/qq_35635374/article/details/138291015

#include "../../core/core.h"
#include <iostream>
#include <vector>
using namespace std;

namespace PathSmoother{
        // 5点中值梯度下降
        // 梯度下降法平滑路径
        // https://blog.csdn.net/weixin_43879302/article/details/116092810
        // 梯度下降法实现路径平滑
        // https://zhuanlan.zhihu.com/p/118666410
        void PathSmootherFivePoint(vector<Pose2D> src_points, Map2D* map_2d, vector<Pose2D>& out_points);
};



#endif